CN111324430B

CN111324430B - Multifunctional radar time sequence configuration and scheduling method

Info

Publication number: CN111324430B
Application number: CN202010018379.4A
Authority: CN
Inventors: 付林; 陆峻; 王犇
Original assignee: 724th Research Institute of CSIC
Current assignee: 724th Research Institute of CSIC
Priority date: 2020-01-08
Filing date: 2020-01-08
Publication date: 2023-02-17
Anticipated expiration: 2040-01-08
Also published as: CN111324430A

Abstract

The invention relates to a multifunctional radar time sequence configuration and scheduling method, which comprises two platforms, wherein each platform comprises a resource scheduling software module and a wave control circuit module; the resource scheduling software module runs on the CPU platform and provides priority sequencing, time arrangement, delay processing and synchronous execution task queue service for the scheduling of the regular tasks and the low-delay tasks; the wave control circuit module runs on the FPGA platform and provides nanosecond decomposition and timed execution service for executing tasks. Feeding back a current task to the resource scheduling software module in real time through the wave control circuit module, and synchronously executing a task queue; the resource scheduling software module adopts the highest priority thread to ensure the real-time scheduling of the low-delay task, inserts the low-delay task into an execution queue, delays the subsequent tasks sequentially, forms a new queue and issues the new queue, and the tasks exceeding the time slice enter a delay queue; and the wave control circuit module replaces the original execution task queue with the newly issued execution task queue to finish the strong real-time response of the low-delay task.

Description

Multifunctional radar time sequence configuration and scheduling method

Technical Field

The invention belongs to the technical field of radar systems.

Background

Under battlefield and test conditions, the multifunctional radar system needs to reasonably distribute system resources to complete multifunctional tasks and drive the radar to complete the multifunctional tasks.

The multifunctional task integrated scheduling of the multifunctional radar system generally has two methods: one is to realize the multi-functional task execution of time sharing through macroscopic large time sharing scheduling; one is to realize the simultaneous multi-functional task execution of the macro by micro-small time-sharing scheduling.

The radar task resource scheduling needs large amount of calculation due to the predictable task target time, the regular task space distribution, the multiple processing units and devices involved in the task, and is generally calculated in a centralized manner according to the time slice. In the traditional design method, one or more processors are distributed to tasks of different levels in a hierarchical mode, and a calculation path is fixed. In the existing design method, because the computing resources designed by the scheduling function module are relatively fixed, the dynamic adjustment and configuration cannot be realized, and the delay of the radar task scheduling group approaches to a time slice, namely 50-100ms magnitude, and the task requiring high real-time response and the group delay in us magnitude is timely responded.

Disclosure of Invention

The invention aims to realize the multifunctional task integrated scheduling of a multifunctional radar system, mainly solve the problem of micro time-sharing scheduling and realize the macro simultaneous multifunctional task execution.

The invention provides a multifunctional radar time sequence configuration and scheduling method, which comprises a resource scheduling software module and a wave control circuit module; the resource scheduling software module runs on a CPU platform, comprises two independent submodules of time slice scheduling and low-delay scheduling, and provides task priority sequencing, task target time arrangement, task delay processing and synchronous execution task queue maintenance service for regular task scheduling and low-delay task feedback scheduling; the wave control circuit module runs in the FPGA module, belongs to a strong real-time module, and provides nanosecond-level task decomposition and timed execution service for executing a task queue; the method comprises the following specific steps:

step 1: the time slice scheduling submodule generates a regular task table covering a radar working space;

step 2: the wave control circuit module generates a real-time trigger signal in xms before the time slice, and sends the real-time trigger signal to the resource scheduling software module in a hardware interrupt mode;

and 3, step 3: the time slice scheduling submodule extracts the regular tasks meeting the current time slice from the regular task table to form an execution task queue and sends the execution task queue to the wave control circuit module;

and 4, step 4: the wave control circuit module receives a scheduling queue sent by the resource scheduling software module, executes a scheduling task according to each task target moment in the queue, decomposes the scheduling task into messages required by each execution module, sends the messages to each execution module, and simultaneously sends a real-time feedback signal to the resource scheduling software module to feed back the number of the currently executed task for synchronizing the execution task queue copies in the resource scheduling software module;

and 5: the resource scheduling software module determines a task which is currently executed according to the real-time feedback of the wave control circuit module and marks the task;

step 6: a resource scheduling software module receives a low-delay task application;

and 7: the low-delay scheduling calculates the related parameters of the low-delay task, inserts the low-delay task into the current execution task, carries out the target time of the subsequent task in the task queue copy in a forward delay way, and immediately sends a new scheduling queue to the wave control circuit module after putting the task of which the target time exceeds the time slice into the delay queue;

and step 8: and the wave control circuit replaces the original scheduling task queue according to the new scheduling task queue, then continues to execute the task according to the task target time specified by the scheduling task queue, sends a real-time feedback signal to the resource scheduling node, and synchronizes the current execution task pointer.

The invention designs a quick response path aiming at high real-time and low-delay tasks, adopts a high-priority real-time response method, and adapts to the high-efficiency calculation of high real-time and low-delay scheduling tasks and the requirement of high-precision timing driving radar work according to task time.

Drawings

FIG. 1 is a signal flow diagram of a radar multifunctional dispatching system.

FIG. 2 is a high priority short response task flow diagram.

FIG. 3 is a diagram of a high priority short-time responsive task real-time scheduling scheme.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described in conjunction with the accompanying drawings and the detailed description thereof:

1) And the wave control node generates timing interruption according to the time slice interval and sends hardware interruption to the resource scheduling node.

2) And the resource scheduling node responds to the hardware interrupt, schedules the scheduling task of the next time slice according to the scheduling rule of the time slice according to the regular task, forms a scheduling task queue, transmits the scheduling task queue to the wave control node, and locally reserves a synchronous scheduling task queue backup.

3) And the wave control node executes each scheduling task strictly according to the task target time specified by the scheduling task queue, simultaneously sends a real-time feedback signal to the resource scheduling node, and synchronizes the current execution task pointer.

4) The resource scheduling node points the current execution task pointer to the execution task to be started according to the current real-time feedback signal;

5) The resource scheduling node reserves a response task with the highest priority and processes the low-delay task;

6) Judging the triggering time and the task duration of the low-delay task, inserting the low-delay task into the current execution task of the scheduling task queue, delaying the target time of the subsequent task, removing the subsequent task exceeding the time slice from the scheduling task queue and putting the subsequent task into the delay queue to form a new scheduling task queue, and immediately sending the new scheduling task queue to a wave control circuit;

7) And the wave control circuit replaces the original scheduling task queue according to the new scheduling task queue, continues to execute the task according to the task target time specified by the scheduling task queue, sends a real-time feedback signal to the resource scheduling node and synchronizes the current execution task pointer.

Claims

1. A multifunctional radar time sequence configuration and scheduling method is characterized in that: the system comprises a resource scheduling software module and a wave control circuit module; the resource scheduling software module runs on a CPU platform, comprises two independent submodules of time slice scheduling and low-delay scheduling, and provides task priority sequencing, task target time arrangement, task delay processing and synchronous execution task queue maintenance service for regular task scheduling and low-delay task feedback scheduling; the wave control circuit module runs in the FPGA module, belongs to a strong real-time module, provides nanosecond-level task decomposition for executing a task queue, and executes service regularly:

and step 3: the time slice scheduling submodule extracts the regular tasks meeting the current time slice from the regular task table to form an execution task queue and sends the execution task queue to the wave control circuit module;

and 5: the resource scheduling software module determines the task currently executed according to the real-time feedback of the wave control circuit module and marks the task;

and step 8: and the wave control circuit replaces the original scheduling task queue according to the new scheduling task queue, continues to execute the task according to the task target time specified by the scheduling task queue, sends a real-time feedback signal to the resource scheduling node and synchronizes the current execution task pointer.

2. The multifunctional radar timing configuration and scheduling method of claim 1, wherein: the low-delay scheduling submodule has the highest priority, can respond to the application of the low-delay task in real time, and completes the calculation of the related parameters of the low-delay task, the adjustment of the scheduling queue and the assignment of a new scheduling queue to the wave control circuit module in y us.

3. The multifunctional radar timing configuration and scheduling method of claim 1, wherein: the current time slice of the delay queue does not execute the tasks in the delay queue, and the tasks in the delay queue are scheduled preferentially when the next time slice is scheduled.

4. The multifunctional radar timing configuration and scheduling method of claim 1, wherein: the real-time feedback signal is generated y +5us before the target time of each scheduling task and is sent to the resource scheduling software module in a hardware interrupt mode.